基于线性二次型的桥式起重机荷载消摆控制算法的研究

Research on Load Anti-swing Control Algorithm of Bridge Crane Based on Linear Quadratic Form

针对桥式起重机二维荷载运动的消摆问题,将其转化为二次线性规划控制。规范化实现求解线性二次型过程,采用由状态线性反馈控制率构成的闭环最优控制系统,设计线性二次型轨迹跟踪控制器。仿真结果表明,荷载运动的实际输出轨迹能够跟踪上预设线轨迹,达到对运动荷载的消摆控制效果。

Aiming at the problem of eliminating swing of two-dimensional load movement of bridge crane,it is transformed into quadratic linear programming control.The closed-loop optimal control system composed of state linear feedback control rate is used to design the linear quadratic trajectory tracking controller.The simulation results show that the actual output trajectory of the load movement can track the preset trajectory and achieve the effect of anti sway control of the moving load.